Mechanism and Machine Theory最新文献_第2页

Nonlinearity separation and static-dynamic synthesis: A rapid and accurate algorithm for gear dynamics 非线性分离与静动综合：一种快速准确的齿轮动力学算法

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2026-04-01 Epub Date: 2026-01-29 DOI: 10.1016/j.mechmachtheory.2026.106367

Yifan Huangfu , Xingjian Dong , Juanjuan Shi , Zhongkui Zhu

{"title":"Nonlinearity separation and static-dynamic synthesis: A rapid and accurate algorithm for gear dynamics","authors":"Yifan Huangfu , Xingjian Dong , Juanjuan Shi , Zhongkui Zhu","doi":"10.1016/j.mechmachtheory.2026.106367","DOIUrl":"10.1016/j.mechmachtheory.2026.106367","url":null,"abstract":"<div><div>Achieving faster computational efficiency in gear dynamic simulation remains a critical challenge due to the strong localized nonlinearities inherent in these systems. In this work, a nonlinearity separation and static-dynamic synthesis (NSSDS) method is proposed to isolate localized nonlinearities at gear and bearing interfaces. NSSDS pioneers the application of a static-dynamic synthesis basis for model order reduction and effectively combines static deformation characteristics with dynamic modal information to accelerate gear dynamic calculation substantially while preserving accuracy in capturing nonlinear behaviors. Both the numerical simulation and experimental studies demonstrate the accuracy and computational efficiency of NSSDS. Nonlinear dynamic analysis shows that NSSDS effectively captures the dominant static deformation in geared rotor systems, enabling highly efficient and accurate dynamic analysis with considerably reduced truncation orders. NSSDS outperforms the traditional mode superposition method by incorporating static deformation characteristics. So it is particularly suitable for rapid vibration simulation of complex nonlinear gear systems. This fast algorithm provides rapid, accurate simulation of complex nonlinear behavior, which is crucial for vibration analysis and dynamic design optimization of gear transmission systems.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"220 ","pages":"Article 106367"},"PeriodicalIF":4.5,"publicationDate":"2026-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146078173","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Load-based iterative modification design method for face gear pairs 基于载荷的面齿轮副迭代修形设计方法

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2026-04-01 Epub Date: 2026-02-02 DOI: 10.1016/j.mechmachtheory.2026.106369

Wentao Liu , Zehua Hu , Jinyuan Tang , Zhou Sun , Zhaoyang Tian , Heng Ouyang , Dongqi Chen , Zhiwei Wang

{"title":"Load-based iterative modification design method for face gear pairs","authors":"Wentao Liu , Zehua Hu , Jinyuan Tang , Zhou Sun , Zhaoyang Tian , Heng Ouyang , Dongqi Chen , Zhiwei Wang","doi":"10.1016/j.mechmachtheory.2026.106369","DOIUrl":"10.1016/j.mechmachtheory.2026.106369","url":null,"abstract":"<div><div>Edge contact, a common and highly detrimental issue in gear transmissions, significantly degrades gear performance and service life. Point-contact face gear (FG) pairs are particularly susceptible to this issue,as the mating spur gears have 1–3 fewer teeth than the generating gears. To address this problem, a novel load-based iterative modification design method is presented for FG pairs. First, modified FGs are designed using a modified generating gear to determine initial modification parameters, and the potential contact lines of the FG pairs are subsequently determined. Subsequently, loaded contact parameters, including contact patterns, load distribution ratios, and time-varying meshing stiffness (TVMS), are determined according to the load to assess the meshing state. Based on this analysis, the modification parameters are iteratively adjusted in a closed-loop design cycle. Ultimately, the derived modification parameters eliminate edge contact while maintaining stable contact patterns even under 120% of the rated load or installation errors, achieving the optimized tooth surface modification effect. Validation against finite element analysis (FEA) confirms that the proposed method substantially improves optimization efficiency while maintaining accuracy. Results highlight the necessity of load-based optimization.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"220 ","pages":"Article 106369"},"PeriodicalIF":4.5,"publicationDate":"2026-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146173265","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Towards realistic simulation of two-stroke marine engines: A floating frame approach 面向二冲程船用发动机的真实仿真：一种浮动框架方法

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2026-04-01 Epub Date: 2026-01-22 DOI: 10.1016/j.mechmachtheory.2025.106318

Jacob Østerby Rasmussen , Anders Vølund , Ilmar Santos

{"title":"Towards realistic simulation of two-stroke marine engines: A floating frame approach","authors":"Jacob Østerby Rasmussen , Anders Vølund , Ilmar Santos","doi":"10.1016/j.mechmachtheory.2025.106318","DOIUrl":"10.1016/j.mechmachtheory.2025.106318","url":null,"abstract":"<div><div>This paper presents a novel multi-body simulation framework utilizing the nodal-based Floating Frame of Reference Formulation to realistically model large-bore two-stroke marine engines. The framework employs linear model order reduction to condense finite element models of the crankshaft, shafting system, and housing, and uses specialized deformation modes that efficiently model the fluid-solid interaction in main bearings for time-domain elastohydrodynamic simulations. The framework is implemented in a custom-built multi-body code in MATLAB and the paper explains implementation details allowing other researchers to replicate the approach using the nodal-based Floating Frame of Reference Formulation. Balancing computational efficiency and fidelity, it accurately represents the coupled engine system’s dynamic response. Validated against experimental data from a full-scale four-cylinder test engine, simulated journal orbits and journal misalignments show strong agreement across the engine’s operating range. Evaluation of two case studies, representing distinct engine configurations, compares main journal dynamics and torsional frequency responses, demonstrating the framework’s versatility and robustness in capturing global engine dynamics.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"220 ","pages":"Article 106318"},"PeriodicalIF":4.5,"publicationDate":"2026-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146023472","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Construction and mobility analysis of networks of deployable even-sided equilateral polygons 可展开的均匀等边多边形网络的构造与机动性分析

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2026-04-01 Epub Date: 2026-01-06 DOI: 10.1016/j.mechmachtheory.2025.106346

Xianwen Kong

{"title":"Construction and mobility analysis of networks of deployable even-sided equilateral polygons","authors":"Xianwen Kong","doi":"10.1016/j.mechmachtheory.2025.106346","DOIUrl":"10.1016/j.mechmachtheory.2025.106346","url":null,"abstract":"<div><div>Deployable planar mechanisms represent a classical category of deployable systems with broad applications in civil engineering, space exploration, metamaterials, and beyond — either as standalone structures or as compositional units. Despite significant progress in recent decades, designing such mechanisms remains challenging due to their overconstrained nature. This paper addresses the construction and mobility analysis of networks of deployable even-sided equilateral polygons (NDEEPs). Two approaches are proposed: the link-connection method and the joint-connection approach. Three classes of one degree-of-freedom (DOF) NDEEPs and one class of 2-DOF NDEEPs are introduced. Since conventional formulas for the mobility analysis are not applicable to NDEEPs derived via the link-connection method, a mobility analysis method based on a minimal set of constraint equations is proposed. The geometric characteristics of these NDEEPs are also identified. Two classes of NDEEPs derived from tessellations differ fundamentally from hinged tessellations. Additionally, two novel tessellations composed of three types of semi-regular equilateral polygons are discovered as a by-product. This work complements existing research on expanding polygon arrays, hinged tessellations, and deployable networks, contributing to the broader study of overconstrained mechanisms.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"220 ","pages":"Article 106346"},"PeriodicalIF":4.5,"publicationDate":"2026-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145927891","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

ATSMR: A new matrix-based remaining useful life prediction method for roller bearing 基于矩阵的滚动轴承剩余使用寿命预测新方法

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2026-04-01 Epub Date: 2026-01-19 DOI: 10.1016/j.mechmachtheory.2026.106364

Anbo Tang, Haiyang Pan, Jinyu Tong

{"title":"ATSMR: A new matrix-based remaining useful life prediction method for roller bearing","authors":"Anbo Tang, Haiyang Pan, Jinyu Tong","doi":"10.1016/j.mechmachtheory.2026.106364","DOIUrl":"10.1016/j.mechmachtheory.2026.106364","url":null,"abstract":"<div><div>As a classical regression analysis method, support vector regression (SVR) is extensively employed within the realm of remaining useful life (RUL) prediction. However, SVR requires feature vectors as the input, which makes it easy for information to leak during the process of constructing feature vectors. To address this problem, a novel matrix-based regressor is proposed in this paper, called asymmetric twin support matrix regression (ATSMR). In ATSMR, a novel rescaled asymmetric term and asymmetric tube are constructed, which imposes corresponding penalties according to the sample location and can achieve advanced prediction. Meantime, an improved neighborhood graph is combined with the matrix-based regressor, which considers the number of data clusters to more accurately construct the internal geometric structure of the original data. The efficacy and advantage of the proposed method are confirmed through experimental validation on two datasets, and the experimental outcomes reveal that the proposed method maintains high prediction accuracy and stability in the RUL prediction of roller bearing.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"220 ","pages":"Article 106364"},"PeriodicalIF":4.5,"publicationDate":"2026-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146023469","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Passive gravity compensation in mechanisms and robots: Methods, advances, and challenges 机械和机器人中的被动重力补偿：方法、进展和挑战

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2026-04-01 Epub Date: 2026-01-07 DOI: 10.1016/j.mechmachtheory.2025.106345

Vu Linh Nguyen

{"title":"Passive gravity compensation in mechanisms and robots: Methods, advances, and challenges","authors":"Vu Linh Nguyen","doi":"10.1016/j.mechmachtheory.2025.106345","DOIUrl":"10.1016/j.mechmachtheory.2025.106345","url":null,"abstract":"<div><div>Passive gravity compensation plays a crucial role in reducing actuator effort, improving energy efficiency, and enhancing ergonomics in mechanisms and robotic systems. This review presents a comprehensive overview of passive gravity compensation, focusing on fundamental methods, recent advances, and emerging challenges. Gravity compensation mechanisms are systematically classified based on the types of structures used to implement energy storage elements. Distinct from prior reviews, this work highlights three major research frontiers in the field: compensation for variable payloads, innovations in multi-degree-of-freedom (multi-DoF) compensation, and the integration of novel energy storage elements. Additionally, the review also provides future research directions and challenges in the field of gravity compensation, including self-regulated gravity compensation for variable payloads, the multi-DoF coupling problem in spatial manipulators, the impact of non-ideal components such as friction and hysteresis, multi-objective design trade-offs, and emerging synergies with artificial intelligence. By bridging theoretical modeling with practical implementation, this review provides a roadmap for developing scalable, adaptive, and deployable gravity-compensated systems for industrial, wearable, and collaborative robotic applications.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"220 ","pages":"Article 106345"},"PeriodicalIF":4.5,"publicationDate":"2026-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145927889","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Dynamic modeling and friction parameter identification of a hybrid robot considering active and passive joint frictions 考虑主动和被动关节摩擦的混合动力机器人动力学建模与摩擦参数辨识

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2026-04-01 Epub Date: 2026-01-08 DOI: 10.1016/j.mechmachtheory.2025.106348

Yue Ma , Long Chen , Haitao Liu , Bin Li , Qi Liu , Honggui Peng , Dun Peng

{"title":"Dynamic modeling and friction parameter identification of a hybrid robot considering active and passive joint frictions","authors":"Yue Ma , Long Chen , Haitao Liu , Bin Li , Qi Liu , Honggui Peng , Dun Peng","doi":"10.1016/j.mechmachtheory.2025.106348","DOIUrl":"10.1016/j.mechmachtheory.2025.106348","url":null,"abstract":"<div><div>The joint frictions will increase the pose error and trajectory deviation of a robot. Taking the TriMule-200 hybrid robot as an example, this paper proposes a dynamic modeling method considering both the active and passive joint frictions, along with a friction parameter identification method based on the Gaussian Quantum Particle Swarm Optimization (GQPSO) algorithm. The former integrates the Newton-Euler method with screw theory to formulate rigid-body dynamic equations for each component, leading to a linear equation system with driving forces/torques and joint constraint forces/moments as variables. A stepwise solution strategy is implemented to compute the driving forces/torques that considering joint frictions modeled by the Stribeck friction model. The latter adopts the global sensitivity analysis method based on variance and covariance decomposition (VCD-GSA) to identify highly sensitive friction parameters, which are then estimated using the GQPSO algorithm by minimizing the mean square error between the predicted and measured driving torques. The experimental results show that the predicted accuracy (R<sup>2</sup>) of the driving torques exceeds 96.63 % across both the identification and verification trajectories, thereby verifying the effectiveness of the proposed method.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"220 ","pages":"Article 106348"},"PeriodicalIF":4.5,"publicationDate":"2026-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145928031","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

The geometry of infinitesimal mobility of closed-loop linkages 闭环连杆机构无穷小运动的几何性质

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2026-04-01 Epub Date: 2026-01-02 DOI: 10.1016/j.mechmachtheory.2025.106332

Nir Shvalb , Oded Medina

引用次数: 0

Falling dynamics: Accessible saddle and crisis transfer in a passive dynamic Walker 下降动力学：被动动态步行者的可达鞍座和危机转移

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2026-04-01 Epub Date: 2026-01-03 DOI: 10.1016/j.mechmachtheory.2025.106341

Yumeng Bao , Jianshe Gao , Lei Wan , Qichao Wang , Jianzhuang Zhao , Xiaobo Rao

{"title":"Falling dynamics: Accessible saddle and crisis transfer in a passive dynamic Walker","authors":"Yumeng Bao , Jianshe Gao , Lei Wan , Qichao Wang , Jianzhuang Zhao , Xiaobo Rao","doi":"10.1016/j.mechmachtheory.2025.106341","DOIUrl":"10.1016/j.mechmachtheory.2025.106341","url":null,"abstract":"<div><div>Falling is a serious consequence of gait disturbances and gait instability in both humans and bipedal walking systems, yet its underlying dynamical mechanisms remain poorly understood. This study systematically identifies and analyzes three distinct falling scenarios in a passive biped robot. The first involves a local bifurcation, in which the period-1 stable gait disappears via a saddle-node bifurcation. The other two are induced by global bifurcations: one triggered by a boundary crisis involving a period-1 saddle, and the other by a more complex double boundary crisis associated with a period-3 saddle. From a global dynamical perspective, these crises are shown to result from transitions between accessible saddle orbits located on the basin boundary—a phenomenon referred to as crisis transfer. To validate these theoretical predictions, a physical robot prototype is developed and tested through both numerical simulations and real-world experiments. The results confirm the predicted gait evolution and fall mechanisms. Overall, these findings offer new insights into the intrinsic dynamics of falling in bipedal systems and provide a theoretical foundation for evaluating and optimizing gait stability and fall prevention strategies.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"220 ","pages":"Article 106341"},"PeriodicalIF":4.5,"publicationDate":"2026-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145886042","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A semi-analytical approach towards determining the largest collision-free sphere in R3 inside the effective regular workspace of a 6-6 Stewart-Gough platform manipulator corresponding to a given orientation workspace 6-6 Stewart-Gough平台机械臂在给定方位工作空间下的有效规则工作空间内R3中最大无碰撞球面的半解析方法

IF 4.5 1区工程技术

Mechanism and Machine Theory Pub Date : 2026-04-01 Epub Date: 2026-01-09 DOI: 10.1016/j.mechmachtheory.2025.106331

Bibekananda Patra, Nishanth Adithya Chandramouli, Sandipan Bandyopadhyay

{"title":"A semi-analytical approach towards determining the largest collision-free sphere in R3 inside the effective regular workspace of a 6-6 Stewart-Gough platform manipulator corresponding to a given orientation workspace","authors":"Bibekananda Patra, Nishanth Adithya Chandramouli, Sandipan Bandyopadhyay","doi":"10.1016/j.mechmachtheory.2025.106331","DOIUrl":"10.1016/j.mechmachtheory.2025.106331","url":null,"abstract":"<div><div>This article focusses on the problem of interference among the links of a parallel robot, namely, the Stewart-Gough platform manipulator. The geometry of the legs is approximated by <em>capsules</em>, leading to the detection of collision among any pair of legs in terms of tangency of the corresponding capsules. Analytical conditions for the said cases of tangency are derived in closed-form, which manifest geometrically as certain quadrics in space. Through a thorough study and explicit characterisation of these surfaces, novel analytical methods are developed to find the largest spheres in space which are tangent to these surfaces. Such spheres are free of possibilities of link collisions, and they can be derived analytically for a given orientation of the moving platform of the manipulator. The analysis is subsequently extended to the orientation workspace of the manipulator by repeating the above-mentioned computations over a large number of discrete samples. The results obtained are verified numerically by comparing them with those generated from other sources. A parametric study is performed to demonstrate the utility of the proposed analysis in practice.</div></div>","PeriodicalId":49845,"journal":{"name":"Mechanism and Machine Theory","volume":"220 ","pages":"Article 106331"},"PeriodicalIF":4.5,"publicationDate":"2026-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"145927894","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0